ROBOT AND ITS TEACHING METHOD

摘要

A robot of the invention includes a robot arm (28) having a distal end to which a wrist axis (27) is rotatably provided; arm drive unit (29, 30), each configured to move the robot arm (28); a wrist axis drive unit (31) configured to rotate the wrist axis (27); and a robot control unit (40) configured to control the arm drive unit (29, 30) and wrist axis drive unit (31). The robot control unit (40) is configured to control the arm drive unit (29, 30) to move the distal end of the robot arm (28) to bring a contact member (50) attached to the wrist axis (27) into contact with an instruction target (51), thereby detecting a posture of the robot arm (28) and an angular position of the wrist axis (27) when the wrist axis (27) begins to be angularly displaced due to the contact between the contact member (50) and the instruction target (51), thus determining a position of an instruction point.